TWI635255B - Method and system for tracking object - Google Patents

Abstract

An object tracking method and system. The light beam is emitted through respective light emitters of the plurality of assembly pads. A plurality of images are continuously captured through the camera device toward the assembly pad, and each image includes a plurality of light regions formed through the light beam. Analyze the first image and the second image to calculate the movement change of the light area, wherein the first image and the second image are two adjacent images. Thereafter, the motion state of the imaging device is determined based on the movement change.

Description

Object tracking method and system

The present invention relates to an object tracking method and system, and more particularly, to an object tracking method and system combined with a light emitting combination pad.

With the advancement of technology, technologies such as Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR) are becoming more and more mature. / VR / MR is also becoming more and more familiar, and users' input requirements for physical and virtual spaces are increasing. According to this, corresponding input devices such as helmets and walking sticks are increasing, and spatial positioning technology for immersive experience is more important.

Current VR technology uses a physical frame or a virtual optical frame to define the user's movement, but it also restricts the user's location. For example, using laser to encode space and tracking helmets and canes waiting to measure objects; or scanning Quick Response (QR) Code for identification to obtain information to put virtual information in real space Show. According to this, how to provide a simple and applicable interactive technology for various venues is an important issue at present.

The present invention provides an object tracking method and system, which combines light-emitting assembly pads for spatial positioning, and can implement object tracking technology in various venues.

The object tracking method of the present invention includes the following steps. The light beam is emitted through respective light emitters of a plurality of assembly pads, wherein the assembly pads assemble a light emitting area. A plurality of images are captured through the camera device continuously toward the assembly pad in the light emitting area, and each image includes a plurality of light regions formed by transmitting the light beam. Analyze the first image and the second image to calculate the movement change of the light area, wherein the first image and the second image are two adjacent images in the image. Thereafter, the motion state of the imaging device is determined based on the movement change.

In an embodiment of the present invention, the step of analyzing the first image and the second image to calculate the movement change of the light area includes: locking a designated light area in the first image and the second image respectively; and based on the first The coordinate position of a designated light area of an image and the coordinate position of a light area of a second image calculate a displacement direction and a displacement amount on a horizontal plane.

In an embodiment of the present invention, the step of analyzing the first image and the second image to calculate the movement change of the light area includes: locking an imaging position in the first image and the second image respectively; and recording in the first image. A first light region of the imaging position of the image; a second light region recorded at the imaging position of the second image; obtaining a displacement direction on a horizontal plane based on the positional relationship between the first light region and the second light region; The number of light regions included between the first light region and the second light region is used to obtain the amount of displacement on the horizontal plane.

In an embodiment of the present invention, the step of analyzing the first image and the second image to calculate the movement change of the light area includes: locking a designated light area in the first image and the second image, respectively; In the image, the first interval is recorded when the distance between the specified light area and its adjacent light area is equal; in the second image, the distance between the specified light area and its adjacent light area is recorded When they are all equal, the second interval is recorded; in the case where the first interval is different from the second interval, based on the change relationship between the first interval and the second interval, the displacement direction and amount on the vertical axis are obtained.

In an embodiment of the present invention, when the first interval is the same as the second interval, it is determined that the movement change is a horizontal movement.

In an embodiment of the present invention, the step of analyzing the first image and the second image to calculate the movement change of the light region includes: judging the formation of the light region on the outer side of the first image and the second image. Whether the slope between the straight lines changes. The step of determining the motion state of the imaging device based on the movement change includes: calculating a rotation angle of the imaging device based on the change in the slope.

In an embodiment of the present invention, the object tracking method further includes: obtaining an identification code of each assembly pad; driving the assembly pad to emit a beam one by one; and obtaining the configuration of each assembly pad based on the received optical signal and the captured image. The real space position of; and obtaining the corresponding map by corresponding the identification code with its corresponding real space position.

In an embodiment of the present invention, the above-mentioned object tracking method further includes: acquiring a correction image through the camera device toward the assembly pad in the light emission area, The correction image is displayed on the screen; on the screen, the ideal light area is displayed above the correction image; and the correction process is performed through the ideal light area and the light area in the correction image.

In an embodiment of the present invention, each of the assembly pads has a male-female mechanism joint point on an edge thereof, and each assembly pad is assembled through the male-female mechanism joint point.

In an embodiment of the present invention, the camera device is mounted on an object, and the object is one of a helmet, a cane, a remote control, gloves, a shoe cover, and clothing.

In an embodiment of the present invention, each of the assembly pads further includes a force sensor.

The object tracking system of the present invention comprises: a plurality of assembly pads for assembling a light emitting area, wherein each assembly pad includes a light emitter for emitting a light beam; and a camera device. The camera device includes: an image capture device, which continuously captures a plurality of images toward the assembly pad in a light emission area, wherein each image includes a plurality of light regions formed through the light beam; and an image analysis unit, Coupled to an image capturer to receive images for analysis. The image analysis unit analyzes the first image and the second image to calculate the movement change of the light area, wherein the first image and the second image are two adjacent images in the image; and the image analysis unit is based on the movement change To determine the motion state of the imaging device.

Based on the above, the present invention combines a plurality of light-emitting assembly pads, and uses the assembly pads to define a range of motion to track a specific object within the range of motion. According to this, the number of combination pads can be increased or decreased according to the situation, and it is more flexible in expansion without being limited by the venue. System, not only easy to assemble, but also easy to disassemble.

In order to make the above features and advantages of the present invention more comprehensible, embodiments are hereinafter described in detail with reference to the accompanying drawings.

100, 900‧‧‧ object tracking system

110‧‧‧ camera

210‧‧‧ Power supply unit

220‧‧‧Image Analysis Unit

230‧‧‧Image Capturer

240‧‧‧ light emitter

250‧‧‧Microcontroller

300‧‧‧Image

510, 610, 710‧‧‧ first image

520, 620, 720‧‧‧Second image

910‧‧‧Electronic device

a ~ d‧‧‧length

A, A11 ~ A14, A21 ~ A24, A31 ~ A34‧‧‧Assembly pad

CD‧‧‧Capture distance

CL‧‧‧Capture focal length

F‧‧‧ Force Sensor

IO‧‧‧electrical junction

IR‧‧‧ infrared light source

M, N, P‧‧‧ Designated light zone

MD‧‧‧ actual distance

R‧‧‧Screen

t1, t2‧‧‧Straight

U‧‧‧ looked up

V‧‧‧ Head-up state

VH‧‧‧actual height

VP‧‧‧ Pitch Pixels

WP‧‧‧ Total Pixels

Z‧‧‧ Ideal light area

S305 ~ S320‧‧‧ Object tracking method steps

FIG. 1 is a schematic diagram of an object tracking system according to an embodiment of the present invention.

FIG. 2 is a block diagram of an object tracking system according to an embodiment of the present invention.

FIG. 3 is a flowchart of an object tracking method according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of triangulation according to an embodiment of the present invention.

FIG. 5 is a schematic diagram showing a light area of an image under horizontal movement according to an embodiment of the present invention.

FIG. 6 is a schematic diagram showing a light area of an image under vertical movement according to an embodiment of the present invention.

FIG. 7 is a schematic diagram showing a light area of an image in a rotating situation according to an embodiment of the present invention.

8A and 8B are schematic diagrams of a calibration screen according to an embodiment of the present invention.

FIG. 9 is a block diagram of an object tracking system according to another embodiment of the present invention.

10A-10C are schematic diagrams of the structure of an assembly pad according to an embodiment of the present invention.

11A-11C are schematic diagrams of the structure of an assembly pad according to another embodiment of the present invention.

The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of each embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, such as: "up", "down", "front", "rear", "left", "right", etc., are only directions referring to the attached drawings. Therefore, the directional terms used are used for illustration, but not for limiting the present invention. And, in the following embodiments, the same or similar elements will be given the same or similar reference numerals.

FIG. 1 is a schematic diagram of an object tracking system according to an embodiment of the present invention. FIG. 2 is a block diagram of an object tracking system according to an embodiment of the present invention. 1 and FIG. 2, the object tracking system 100 includes a camera device 110 and assembly pads A11 to A14, A21 to A24, and A31 to A34 (collectively referred to as assembly pad A below). In this embodiment, 4 × 3 assembling pads A are used as an example for description, however, it is not limited to this in other embodiments.

In each assembly pad A, a light transmitter 240 and a microcontroller 250 are provided. The microcontroller 250 is coupled to the light transmitter 240. The micro-controller 250 is used to control the light transmitter 240 to emit a light beam with a specific frequency, such as infrared light. The wavelength of the infrared light may be designed as 850 nm or 940 nm. The light emitter 240 is, for example, an infrared light emitter for emitting infrared light. A micro controller unit (MCU) 250 is an integrated circuit chip and can be regarded as a microcomputer. In this embodiment, each of the assembly pads A has a square shape, and the light emitter 240 is disposed at a center position of each of the assembly pads A, and each of the assembly pads A has the same size. Through these groups The pad A assembles a light emitting area, and uses the imaging device 110 as a positioning device, and uses the imaging device 110 to set the spatial positioning. However, in other embodiments, a triangular, rectangular, hexagonal, or other polygonal assembly pad may also be used, which is not limited herein.

The camera device 110 may be mounted on various objects, such as a helmet, a cane, a remote controller, gloves, a shoe cover, clothes, and the like. The camera device 110 includes a power supply unit 210, an image analysis unit 220, and an image capture device 230. The power supply unit 210 is coupled to the image analysis unit 220 and the image capture unit 230 to provide power. The image analysis unit 220 is coupled to the image capturer 230.

Here, the power supply unit 210 is, for example, a battery. The image capturing device 230 is, for example, a video camera or a camera using a charge coupled device (CCD) lens, a complementary metal oxide semiconductor (CMOS) lens, and the like, for capturing images. In addition, the image capture device 230 may also be a three-dimensional photography lens for stereo detection, such as a dual camera, a structured light (light coding) lens, a time-of-flight (TOF) technology lens, or a high-speed photography Lens (> 60Hz, such as 120Hz, 240Hz, 960Hz). The image analysis unit 220 is, for example, a central processing unit (CPU), an image processing unit (GPU), a physical processing unit (PPU), and a programmable microprocessor (Microprocessor). , Embedded control chip, Digital Signal Processor (DSP), Application Specific Integrated Circuits (ASIC) or other similar devices.

The camera device 110 continues to capture multiple images in the light emission area toward the assembly pad A. That is, when the imaging device 110 moves along three coordinate axes and rotates around the three coordinate axes in a three-degree space (for example, six degrees of freedom such as up and down movement, horizontal movement, vertical movement, rotation corresponding to three coordinate axes) The camera device 110 receives images with different light areas, and then analyzes the images through the image analysis unit 220 to track the motion state of the camera device 110.

FIG. 3 is a flowchart of an object tracking method according to an embodiment of the present invention. Referring to FIG. 3, in step S305, a light beam is transmitted through the light emitter 240 of each assembly pad A. For example, the camera 110 can send a control signal to the assembly pad A, so that the microcontroller 250 drives the light transmitter 240 to emit a light beam; or, the assembly pad A is connected to an external electronic device (with Computing device), and the electronic device sends a control signal to the assembly pad A, so that the microcontroller 250 drives the light transmitter 240 to emit a light beam.

Next, in step S310, a plurality of images are captured through the camera device 110 continuously toward the assembly pad A in the light emitting area, where each image includes a plurality of light regions formed through the light beam. The imaging device 110 receives each light beam emitted from the light transmitter 240 of each assembly pad A, and thus forms a plurality of light regions in the imaged image. Here, the light area may be composed of one or a plurality of light points, and the plurality of light points may be regarded as a collection of light points and the plurality of light points may be adjacent light points.

After that, in step S315, the first image and the second image are analyzed by the image analysis unit 220 to calculate the movement change of the light area. Here, for convenience of explanation, two adjacent images are referred to as a first image and a second image. Finally, in step In step S320, the motion state of the imaging device 110 is determined based on the movement change. The images received by the camera device 110 will have different light areas, and the first and second images with different light areas will be analyzed to determine the movement of the camera device 110 in six degrees of freedom. status.

The camera device 110 is mounted on various target objects. Through the above steps S305 to S320, the movement state of the camera device 110 can be used to represent the movement state of the target object.

The following example illustrates how to analyze the movement changes of the light area.

FIG. 4 is a schematic diagram of triangulation according to an embodiment of the present invention. Please refer to FIG. 4, VH represents the actual height between the camera device 110 and the assembly pad A, CL represents the capture focal length of the camera device 110, and MD represents the two center points of two adjacent assembly pads A in a specified direction The actual distance from each other, CD is the internal capture-to-capture distance from the image capture 230.

The image 300 is an image received by the imaging device 110. Here, the image 300 includes nine light regions. WP is the total pixels on the vertical axis of the image 300, and VP is the distance pixels on the vertical axis between the two center points of two adjacent light regions.

Calculated as follows: among them, , CC is the screen transition constant.

Therefore, .

The image analysis unit 220 may use the formula (1) to obtain a displacement amount that moves on the vertical axis. In addition, the image analysis unit 220 may also use the formula (1) to obtain a displacement amount that moves on the horizontal axis. That is, WP is set as the total pixels of the image 300 on the horizontal axis, and VP is set as the pitch pixels where the two center points of two adjacent light regions are spaced on the horizontal axis.

Here, the user can input his own height to determine the actual height VH. For example, if the user inputs a height of 160 cm, the image analysis unit 220 can determine the actual height VH according to the distance between the average eye and the top of the head. The captured focal length CL, total pixels WP, and frame conversion constant CC are known constant values. Based on this, the amount of displacement (the number of pixels) between the first image and the second image is analyzed to obtain the pitch pixel VP. Then, the actual distance MD is obtained by using formula (1), and the actual distance MD represents the imaging device 110 at The distance traveled in real space.

FIG. 5 is a schematic diagram showing a light area of an image under horizontal movement according to an embodiment of the present invention. In this embodiment, the pixel method is calculated using a locked light area. That is, a specified light area is locked through image detection, and the number of pixels moved by the specified light area is brought into formula (1) to obtain the moving distance.

Referring to FIG. 5, the designated light area M is locked in the first image 510 and the second image 520 respectively, and based on the coordinate position of the designated light area M of the first image 510 and the coordinate position of the designated light area M of the second image 520 Calculate the direction and amount of displacement on the horizontal plane. Taking FIG. 5 as an example, the displacement direction is forward movement, and the displacement amount is, for example, 1024 pixels.

Here, take 16 million (5312 × 2988) pixels as an example. On the vertical axis The total pixel WP is fixed at 2988. In addition, it is assumed that the screen conversion constant CC is a fixed value of 7 cm, the capture focal length CL is a fixed value of 12 cm, and the actual height VH is a fixed value of 150 cm.

By moving the number of pixels in the specified light area, for example 1024 pixels, into formula (1), the corresponding actual distance MD is 30 cm. By analogy, if the designated light area moves by 2048 pixels, the corresponding actual distance is 60cm. In other embodiments, the displacement amount of left-right movement can also be detected in the same manner.

In addition, a counting method can also be used, that is, an imaging position is locked on the first image 510 and the second image 520 respectively; a first light area recorded on the imaging position of the first image 510; and an imaging recorded on the second image 520 The second light zone at the position; obtaining the displacement direction on the horizontal plane based on the positional relationship between the first light zone and the second light zone; and based on the number of light zones included between the first light zone and the second light zone The amount of displacement on the horizontal plane is obtained.

For example, suppose that the position of the designated light area M is designated as the locked imaging position in the first image 510, and after moving in the front-back direction, the locked imaging position in the second image 520 is located adjacent to the designated light area M At this point, the other light area has been moved, and then using the above formula (1) (assuming that the pixel VP between the two light areas is 1024 pixels), it can be known that it has moved 30 cm forward. However, if two light zones are finally dropped on the third light zone during the movement, it means that 90cm has been moved. If it is between the light zone and the light zone, it can also be calculated proportionally. By analogy, the movement in the left and right directions can also be judged. Bright area lock and memory methods are not limited to the above description.

FIG. 6 is a schematic diagram showing a light area of an image under vertical movement according to an embodiment of the present invention. In this embodiment, the vertical Move straight. A designated light area N is locked on the first image 610 and the second image 620, respectively. In the first image 610, the first interval is recorded when the distance between the designated light area N and its four adjacent light areas is equal. In the second image 620, when the interval between the designated light area N and the four adjacent light areas are equal, the second interval is recorded. In the case where the first interval is different from the second interval, based on the change relationship between the first interval and the second interval, a displacement direction and a displacement amount on the vertical axis are obtained.

When the first interval is the same as the second interval, it is determined that the movement change is a horizontal movement. That is, by detecting the specified light area N and its four adjacent light areas, it is detected whether the distance between the specified light area N and its four adjacent light areas is the same, and the same represents that the horizontal state is maintained. When the camera device 110 moves up and down, for example, when a user wears a helmet with the camera device 110 to perform squatting and standing motions, although the distance between the light intervals of two adjacent images is the same, the size relationship will change.

As shown in FIG. 6, assuming that the first interval of the first image 610 is 1024 pixels and the second interval of the second image 620 is 615 pixels, it can be known from the calculation of the formula (1) that the imaging device 110 is actually used. The space moves vertically from 150cm to 90cm.

FIG. 7 is a schematic diagram showing a light area of an image in a rotating situation according to an embodiment of the present invention. In this embodiment, the rotation is detected when the distance between the light regions is constant. Here, the user wears a helmet having the camera 110. When the user is in the head-up state U, the camera 110 obtains a first image 710; when the user is in the head-up state V, the camera 110 obtains a second image 720. Image analysis unit 220 It is determined whether the slope between the straight lines t1 and t2 formed by the outer light regions in the first image 710 and the second image 720 is changed, and the rotation angle of the imaging device 110 is calculated based on the change in the slope. For example, a tangent function may be used to calculate the current head-up angle, that is, the rotation angle of the camera 110.

In addition, a designated light area P may be locked in the first image 710 and the second image 720, and the interval between the designated light area P and the four adjacent light areas may be detected, and the designation of the first image 710 and the second image 720 may be performed. The change in the distance between the light region P and its adjacent light region can also be seen to change the rotation angle of the imaging device 110. Here, the distance between the designated light area P of the first image 710 and its adjacent light area on the horizontal axis is smaller than the distance between the designated light area P of the second image 720 and its adjacent light area on the horizontal axis. spacing. From this, it can be seen that the imaging device 110 undergoes a rotation change in the vertical direction.

8A and 8B are schematic diagrams of a calibration screen according to an embodiment of the present invention. Before you start using it, you can perform calibration. That is, a plurality of assembling pads A are assembled to obtain a light emitting region. Next, the imaging device 110 is turned on. After that, the imaging device 110 is moved to a light emission area. Here, the user enters the light emission area while wearing a helmet with the camera device 110 installed thereon, or enters the light emission area while holding a cane with the camera device 110 installed thereon. Next, an ideal light region Z is displayed on the screen R of the imaging device 110, as shown in FIG. 8A. The imaging device 110 enters the light emission area, and when the deviation of the image is extremely small at the fixed position, it can be determined that the positioning is not moving.

Then, the lengths a and b between the central light area and its adjacent light areas in the longitudinal direction and the central light areas and the lengths c and d of its adjacent light areas in the lateral direction are detected. It is determined whether the longitudinal length ratio a / b and the lateral length ratio c / d are smaller than a preset value. E.g. length The ratio of a to length b should be less than 5%; the ratio of length c to length d should be less than 5%.

FIG. 9 is a block diagram of an object tracking system according to another embodiment of the present invention. In this embodiment, the object tracking system 900 further includes an electronic device 910. The electronic device 910 is connected to the plurality of assembly pads A in a wired or wireless manner. For example, a universal serial bus (USB), Bluetooth, Wi-Fi, or the like is used to connect the electronic device 910 and the plurality of assembly pads A. The electronic device 910 is, for example, a general desktop computer, a notebook computer, a tablet computer, a smart phone, or various other electronic devices with computing functions.

Before performing object tracking, a corresponding map between the virtual space and the real space may be established through the electronic device 910. The electronic device 910 detects the light beams of all the assembly pads A in a wired or wireless manner, and obtains the identification codes of the light transmitters 240 of all the assembly pads A. In addition, each assembly pad A is required to emit a light beam according to a specific timing or a specific intensity of the flashing mode. After the image capture device 230 of the camera device 110 receives the optical signal and captures an image, a true configuration of each assembly pad can be obtained Spatial location, and the identification code corresponds to the corresponding real spatial location, and finally a final corresponding map is generated. In addition, in other embodiments, the corresponding map may also be established in the camera device 110, which is not limited herein.

10A-10C are schematic diagrams of the structure of an assembly pad according to an embodiment of the present invention. Here, the infrared light source IR is used as a light emitter, and the infrared light source IR can be a single area or multiple areas on a single assembly pad, and one area is composed of at least one IRLED. The assembly pad A of FIG. 10A includes an infrared light source IR; the assembly pad A of FIG. 10B includes 3 Infrared light sources IR; the assembly pad A of FIG. 10C includes four infrared light sources IR. Each assembly pad A is square, and has a male-female joint on the edge, which can be single or double, and the male and female positions can be adjacent to each other. The electrical junction point IO is located on the mechanism junction point, and the unilateral all-male, all-mother, or mixed male and female can be paired with the electrical junction point IO for electrical correspondence.

11A-11C are schematic diagrams of the structure of an assembly pad according to another embodiment of the present invention. In this embodiment, the assembly pad A is further combined with a force sensor F. One force sensor F is provided in the assembly pad A of FIG. 11A, and an infrared light source IR is provided in the center of the force sensor F. One force sensor F is provided in the assembly pad A of FIG. 11B, and the infrared light source IR is provided at a position that does not overlap with the force sensor F. In the assembly pad A of FIG. 11C, the infrared light sources IR are set at the center, and the force sensor F is centered on the infrared light source IR and is set to four without overlapping the infrared light source IR. The arrangement position and number of the infrared light sources IR may evolve with the accuracy required by the system and the maturity of the camera of the image capture device 230, which is not limited to being arranged in the center and is not limited to four.

In summary, the present invention combines a plurality of light-emitting assembly pads, and uses the assembly pads to define a range of motion to track a specific object within the range of motion. The assembly pad has a simple structure and can be assembled manually, which is not only easy to assemble, but also easy to disassemble. In addition, the number of combined pads can be increased or decreased depending on the situation, which is more flexible in expansion. In addition, it can meet the shape of any field area, and can also be used on desktops, walls, and other planes that require user movement. It is more widely used. Not only for virtual reality or augmented reality interaction, but also for home care, human or pet location tracking, etc.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Inventions, anyone with ordinary knowledge in the technical field to which they belong can make minor changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be defined by the scope of the attached patent application as follows: quasi.

Claims (22)

An object tracking method includes: transmitting a light beam through a light transmitter of each of a plurality of assembly pads, wherein the assembly pads are assembled into a light emission area; and a camera device is continuously directed toward the assembly pads in the light emission area. To capture a plurality of images, each of which includes a plurality of light regions formed by transmitting the light beam; analyzing a first image and a second image to calculate a movement change of the light regions, wherein the The first image and the second image are two adjacent images among the images; and determining a motion state of the camera device based on the movement change. The object tracking method according to item 1 of the scope of patent application, wherein the step of parsing the first image and the second image to calculate the movement changes of the light areas includes: separately from the first image and the second image Locking a designated light area; and calculating a displacement direction and a displacement amount on a horizontal plane based on the coordinate position of the designated light area of the first image and the coordinate position of the designated light area of the second image. The object tracking method according to item 1 of the scope of patent application, wherein the step of parsing the first image and the second image to calculate the movement changes of the light areas includes: separately from the first image and the second image An imaging position is locked; a first light region recorded at the imaging position of the first image; a second light region recorded at the imaging position of the second image; based on both the first light region and the second light region To obtain a displacement direction on a horizontal plane; and to obtain a displacement amount on the horizontal plane based on the number of light regions included between the first light region and the second light region. The object tracking method according to item 1 of the scope of patent application, wherein the step of parsing the first image and the second image to calculate the movement changes of the light areas includes: separately from the first image and the second image Lock a designated light area; In the first image, when the distance between the designated light area and the adjacent light areas are equal, record a first interval; In the second image, in When the distance between the designated light area and the adjacent light areas are equal, a second interval is recorded; if the first interval is different from the second interval, based on the first interval and the The change relationship of the second interval obtains a displacement direction on a vertical axis and a displacement amount. The object tracking method according to item 4 of the scope of patent application, further comprising: determining that the movement change is a horizontal movement when the first interval is the same as the second interval. The object tracking method according to item 1 of the scope of patent application, wherein the step of analyzing the first image and the second image to calculate the movement changes of the light areas includes: judging between the first image and the second image Whether the slope between the straight lines formed by the light regions on the outer side changes; wherein the step of determining the motion state of the camera device based on the movement change includes: calculating a rotation of the camera device based on the change in the slope angle. The object tracking method according to item 1 of the scope of patent application, further comprising: obtaining an identification code of each of the assembly pads; driving the assembly pads to emit a light beam one by one; based on a received optical signal and an captured image, Obtain a real space position configured by each of the assembly pads; and obtain a corresponding map by corresponding the identification code with the corresponding real space position. The object tracking method according to item 1 of the scope of patent application, further comprising: acquiring a correction image through the camera device toward the assembly pads in the light emission area, and displaying the correction image on a screen; On the screen, an ideal light area is displayed above the corrected image; and a correction process is performed through the ideal light area and the light areas in the corrected image. The object tracking method according to item 1 of the scope of the patent application, wherein each of the assembly pads has a male-female mechanism joint on its edge, and each of the assembly pads is assembled through the male-female mechanism joint. The object tracking method according to item 1 of the scope of patent application, wherein the camera device is mounted on an object, wherein the object is one of a helmet, a cane, a remote control, gloves, a shoe cover, and clothing. The object tracking method according to item 1 of the scope of patent application, wherein each of the assembly pads further includes a force sensor. An object tracking system includes: a plurality of assembly pads assembled to form a light emitting area, wherein each of the assembly pads includes a light emitter for emitting a light beam; and a camera device including: an image capture device Continuously capturing multiple images toward the assembly pads in the light emitting area, each of which includes a plurality of light regions formed through the light beam; and an image analysis unit coupled to the An image capture device receives the images to analyze the images, wherein the image analysis unit analyzes a first image and a second image to calculate movement changes of the light areas, wherein the first image and the first image The two images are two adjacent images among the images; and the image analysis unit determines a motion state of the camera device based on the movement change. The object tracking system according to item 12 of the patent application scope, wherein the image analysis unit locks a designated light area on the first image and the second image, and is based on the coordinate position of the designated light area of the first image And the coordinate position of the designated light area of the second image, a displacement direction and a displacement amount on a horizontal plane are calculated. The object tracking system according to item 12 of the scope of patent application, wherein the image analysis unit locks an imaging position on the first image and the second image respectively; and a first light region recorded on the imaging position of the first image A second light area recorded at the imaging position of the second image; obtaining a displacement direction on a horizontal plane based on the positional relationship between the first light area and the second light area; and based on the first The number of light regions included between the light region and the second light region is used to obtain a displacement amount on the horizontal plane. The object tracking system according to item 12 of the scope of patent application, wherein the image analysis unit locks a designated light area in the first image and the second image, respectively; in the first image, the designated light area is separately associated with the designated light area. A first interval is recorded when the distances between adjacent light areas are equal; in the second image, the distance between the designated light area and its adjacent light areas are equal A second interval is recorded; when the first interval is different from the second interval, a displacement direction and a displacement on a vertical axis are obtained based on a change relationship between the first interval and the second interval the amount. The object tracking system according to item 15 of the scope of patent application, wherein the image analysis unit determines that the movement change is a horizontal movement when the first interval is the same as the second interval. The object tracking system according to item 12 of the scope of patent application, wherein the image analysis unit determines whether a slope between a straight line formed by the light region located outside on the first image and the second image changes, and A rotation angle of the camera is calculated based on the change in the slope. The object tracking system according to item 12 of the scope of patent application, wherein the image analysis unit obtains an identification code of each of the assembly pads, and drives the assembly pads to emit a beam one by one, based on a received optical signal and an acquisition An image is used to obtain a real space position configured by each of the assembly pads, and the identification code is corresponding to the corresponding real space position to obtain a corresponding map. The object tracking system according to item 12 of the scope of patent application, wherein the image capture device is used to capture a correction image toward the assembly pads in the light emission area and display the correction image on a screen; the image analysis The unit displays an ideal light area above the corrected image on the screen, and performs a correction process through the ideal light area and the light areas in the corrected image. The object tracking system according to item 12 of the scope of patent application, wherein each of the assembly pads has a male-female mechanism joint on its edge, and each of the assembly pads is assembled through the male-female mechanism joint. The object tracking system according to item 12 of the patent application scope, wherein the camera device is mounted on an object, wherein the object is one of a helmet, a cane, a remote control, gloves, a shoe cover, and clothing. According to the object tracking system of claim 12, each of the assembly pads further includes a force sensor.